Make the destructors of the base classes of planning adapters virtual and close move_group gracefully (moveit#3435)

---------

Signed-off-by: CihatAltiparmak <cihataltiparmak1@gmail.com>

Author: CihatAltiparmak

moveit_core/planning_interface/include/moveit/planning_interface/planning_request_adapter.hpp

@@ -54,6 +54,7 @@ MOVEIT_CLASS_FORWARD(PlanningRequestAdapter);  // Defines PlanningRequestAdapter
 class PlanningRequestAdapter
 {
 public:
+  virtual ~PlanningRequestAdapter() = default;
   /** @brief Initialize parameters using the passed Node and parameter namespace.
    *  @param node Node instance used by the adapter
    *  @param parameter_namespace Parameter namespace for adapter

moveit_core/planning_interface/include/moveit/planning_interface/planning_response_adapter.hpp

@@ -52,6 +52,7 @@ MOVEIT_CLASS_FORWARD(PlanningResponseAdapter);  // Defines PlanningResponseAdapt
 class PlanningResponseAdapter
 {
 public:
+  virtual ~PlanningResponseAdapter() = default;
   /** @brief Initialize parameters using the passed Node and parameter namespace.
    *  @param node Node instance used by the adapter
    *  @param parameter_namespace Parameter namespace for adapter

moveit_core/utils/src/logger.cpp

@@ -55,7 +55,7 @@ rclcpp::Logger& getGlobalRootLogger()
     auto name = fmt::format("moveit_{}", rsl::rng()());
     try
     {
-      static auto* moveit_node = new rclcpp::Node(name);
+      static rclcpp::Node::SharedPtr moveit_node = rclcpp::Node::make_shared(name);
       return moveit_node->get_logger();
     }
     catch (const std::exception& ex)

moveit_ros/planning/planning_request_adapter_plugins/src/check_for_stacked_constraints.cpp

@@ -56,6 +56,8 @@ class CheckForStackedConstraints : public planning_interface::PlanningRequestAda
   {
   }
 
+  ~CheckForStackedConstraints() override = default;
+
   [[nodiscard]] std::string getDescription() const override
   {
     return std::string("CheckForStackedConstraints");

moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_bounds.cpp

@@ -66,6 +66,8 @@ class CheckStartStateBounds : public planning_interface::PlanningRequestAdapter
   {
   }
 
+  ~CheckStartStateBounds() override = default;
+
   void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
   {
     param_listener_ = std::make_unique<default_request_adapter_parameters::ParamListener>(node, parameter_namespace);

moveit_ros/planning/planning_request_adapter_plugins/src/check_start_state_collision.cpp

@@ -58,6 +58,8 @@ class CheckStartStateCollision : public planning_interface::PlanningRequestAdapt
   {
   }
 
+  ~CheckStartStateCollision() override = default;
+
   [[nodiscard]] std::string getDescription() const override
   {
     return std::string("CheckStartStateCollision");

moveit_ros/planning/planning_request_adapter_plugins/src/resolve_constraint_frames.cpp

@@ -53,6 +53,7 @@ class ResolveConstraintFrames : public planning_interface::PlanningRequestAdapte
   {
   }
 
+  ~ResolveConstraintFrames() override = default;
   [[nodiscard]] std::string getDescription() const override
   {
     return std::string("ResolveConstraintFrames");

moveit_ros/planning/planning_request_adapter_plugins/src/validate_workspace_bounds.cpp

@@ -57,6 +57,8 @@ class ValidateWorkspaceBounds : public planning_interface::PlanningRequestAdapte
   {
   }
 
+  ~ValidateWorkspaceBounds() override = default;
+
   void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
   {
     param_listener_ = std::make_unique<default_request_adapter_parameters::ParamListener>(node, parameter_namespace);

moveit_ros/planning/planning_response_adapter_plugins/src/add_ruckig_traj_smoothing.cpp

@@ -56,6 +56,8 @@ class AddRuckigTrajectorySmoothing : public planning_interface::PlanningResponse
   {
   }
 
+  ~AddRuckigTrajectorySmoothing() override = default;
+
   [[nodiscard]] std::string getDescription() const override
   {
     return std::string("AddRuckigTrajectorySmoothing");

moveit_ros/planning/planning_response_adapter_plugins/src/add_time_optimal_parameterization.cpp

@@ -53,6 +53,8 @@ class AddTimeOptimalParameterization : public planning_interface::PlanningRespon
   {
   }
 
+  ~AddTimeOptimalParameterization() override = default;
+
   void initialize(const rclcpp::Node::SharedPtr& node, const std::string& parameter_namespace) override
   {
     param_listener_ = std::make_unique<default_response_adapter_parameters::ParamListener>(node, parameter_namespace);